ModalAI Forum

Hello, I am attempting to stream encoded video over a somewhat long range radio link (imx412 @ 1024x768 on the pipe hires_small_encoded).

Voxl portal:

• acceptable latency & performance over ethernet
• buffers and jams up when streaming over radio link

RTSP stream through vlc:

• extremely high latency (1-1.5s) over ethernet
• works over radio link, but with same latency issues

As far as I can tell, the encoded stream should be within 2Mbps which is well within the capability of our radios, especially at the range I've been testing, so I'm not sure why voxl-portal buffers and locks up while voxl-streamer doesn't.

Not sure if I read all of this forum page correctly, but it seems like I should not be experiencing latency nearly this bad using voxl-streamer: https://docs.modalai.com/camera-video/low-latency-video-streaming/

Let me know if I am doing anything obviously wrong. Thanks!

Hi, I am looking at the voxl-slpi-uart-bridge https://gitlab.com/voxl-public/voxl-sdk/core-libs/voxl-slpi-uart-bridge repo. Would this be capable of making one of the J19 uarts available to the apps processor for external sensor connection (not running voxl-px4)?

Specifically using voxl2 mini

I also have some questions about how to use it. Is it an executable you run that creates a virtual uart interface? Or a library that you reference in code. If so, is there a short implementation example anywhere?

Thank you!

@Eric-Katzfey I was running voxl-px4 in daemonless mode so I could see my driver output:

voxl-px4 -d

And restarting it by terminating with Ctrl+C (probably not the best haha). That makes sense though, I'll try that.

@Eric-Katzfey 1.6.0.

Hi, I am testing some changes on voxl-px4 (adding a few drivers and stuff) and occasionally run into this startup error:

fixed-wing (D0015):/$ voxl-px4 -d
[INFO] Reading from /etc/modalai/voxl-px4.conf
Found DSP signature file
[INFO] Disabling daemon mode

*************************
AIRFRAME=FIXED_WING
GPS=NONE
RC=NONE
ESC=VOXL2_IO_PWM_ESC
POWER MANAGER=NONE
AIRSPEED SENSOR=NONE
DISTANCE SENSOR=NONE
OSD=DISABLE
DAEMON_MODE=DISABLE
SENSOR_CAL=ACTUAL
ARTIFACT_MODE=DISABLE
EXTRA STEPS:
*************************

INFO  [px4] mlockall() enabled. PX4's virtual address space is locked into RAM.
INFO  [px4] assuming working directory is rootfs, no symlinks needed.
INFO  [muorb] Got muorb init command
Sending initialization request
INFO  [muorb] muorb protobuf initalize method succeeded
INFO  [muorb] succesfully did ADVERTISE_TEST_TYPE
INFO  [muorb] [tasks] Creating pthread test_MUORB
INFO  [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097650
INFO  [muorb] succesfully did SUBSCRIBE_TEST_TYPE
INFO  [muorb] [tasks] Creating pthread test_MUORB
INFO  [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097649
INFO  [muorb] succesfully did TOPIC_TEST_TYPE
INFO  [muorb] [tasks] Creating pthread test_MUORB
INFO  [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097648
INFO  [muorb] succesfully did UNSUBSCRIBE_TEST_TYPE
INFO  [muorb] [tasks] Creating pthread test_MUORB
INFO  [muorb] [tasks] Successfully created px4 task PX4_test_MUORB with tid 2097647
INFO  [muorb] muorb test passed

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [muorb] [uORB] Marking DeviceNode(log_message) as advertised in process_remote_topic
INFO  [px4] startup script: /bin/sh /usr/bin/voxl-px4-start 0
INFO  [parameters] Starting param sync THREAD

*************************
AIRFRAME: FIXED_WING
GPS: NONE
RC: NONE
ESC: VOXL2_IO_PWM_ESC
POWER MANAGER: NONE
AIRSPEED SENSOR: NONE
DISTANCE SENSOR: NONE
OSD: DISABLE
ARTIFACT_MODE: DISABLE
EXTRA STEPS:
	
*************************

Running on M0104
INFO  [param] selected parameter default file /data/px4/param/parameters
INFO  [muorb] [uORB] Marking DeviceNode(parameter_client_reset_request) as advertised in process_remote_topic
ERROR [parameters] Timeout waiting for parameter_client_reset_response
INFO  [muorb] [uORB] Marking DeviceNode(parameter_update) as advertised in process_remote_topic
INFO  [muorb] [uORB] Marking DeviceNode(parameter_client_set_value_request) as advertised in process_remote_t
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for ASPD_FALLBACK_GW
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for BAT1_N_CELLS
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for BAT1_V_EMPTY
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_ACC0_ID
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_ACC0_PRIO
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_ACC0_XOFF
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_ACC0_YOFF
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_ACC0_ZOFF
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_ACC1_PRIO
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_ACC3_PRIO
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO0_ID
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO0_PRIO
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO0_XOFF
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO0_YOFF
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO0_ZOFF
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO1_PRIO
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_GYRO3_PRIO
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG0_PRIO
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG1_PRIO
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG1_ROT
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CAL_MAG2_ROT
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_AIRFRAME
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR0_PX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR0_PY
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR1_PX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR1_PY
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR2_KM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR2_PX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR2_PY
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR3_KM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR3_PX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR3_PY
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_ROTOR_COUNT
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_SV_CS0_TRQ_P
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_SV_CS0_TRQ_R
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_SV_CS0_TYPE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_SV_CS1_TRQ_P
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_SV_CS1_TRQ_R
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_SV_CS1_TYPE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_SV_CS2_TRQ_P
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_SV_CS2_TRQ_Y
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_SV_CS2_TYPE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_SV_CS3_TRQ_P
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_SV_CS3_TRQ_Y
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_SV_CS3_TYPE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CA_SV_CS_COUNT
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for CBRK_SUPPLY_CHK
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_ARM_SDCARD
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_CPU_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_DISARM_PRFLT
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_FLTMODE1
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_FLTMODE4
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_FLTMODE6
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_KILL_DISARM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_POS_FS_DELAY
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_POS_FS_EPH
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_POS_LOW_EPH
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_RC_LOSS_T
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for COM_VEL_FS_EVH
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_ABL_LIM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_ARSP_THR
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_EV_CTRL
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_EV_DELAY
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_EV_QMIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_FUSE_BETA
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_IMU_POS_X
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_IMU_POS_Y
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_IMU_POS_Z
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_MAG_ACCLIM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_MAG_TYPE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_MAG_YAWLIM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_MULTI_IMU
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_REQ_EPH
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_REQ_EPV
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_REQ_GPS_H
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_REQ_HDRIFT
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_REQ_SACC
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for EKF2_REQ_VDRIFT
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_AIRSPD_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_AIRSPD_MIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_AIRSPD_STALL
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_AIRSPD_TRIM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_GND_SPD_MIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_MAN_P_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_MAN_R_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_POS_STK_CONF
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_PR_I
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_PR_P
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_RR_FF
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_RR_I
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_RR_P
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_R_LIM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_T_I_GAIN_THR
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for FW_T_SPD_DEV_STD
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for GF_ACTION
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for GPS_SAT_INFO
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for GPS_UBX_DYNMODEL
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for IMU_GYRO_RATEMAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MAN_ARM_GESTURE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MAV_TYPE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_AT_EN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_PITCHRATE_D
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_PITCHRATE_P
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_PITCH_P
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_ROLLRATE_D
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_ROLLRATE_P
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_ROLL_P
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_YAWRATE_P
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MC_YAW_P
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MIS_TAKEOFF_ALT
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MIS_TKO_LAND_REQ
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_LAND_SPEED
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_MANTHR_MIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_POS_MODE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_THR_HOVER
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_THR_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_THR_MIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_TKO_RAMP_T
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_VEL_MANUAL
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_CRUISE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_MAN_EXPO
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_VEL_D_ACC
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_VEL_I_ACC
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_VEL_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_XY_VEL_P_ACC
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_YAW_EXPO
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_MAN_EXPO
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_VEL_MAX_UP
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for MPC_Z_VEL_P_ACC
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for NAV_RCL_ACT
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_DIS2
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_DIS3
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_DIS4
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_DIS5
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_DIS6
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_DIS7
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_DIS8
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_FUNC1
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_FUNC2
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_FUNC3
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_MAX2
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_MAX3
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_MIN2
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_MIN3
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_REV
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_TIM0
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for PWM_MAIN_TIM1
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC10_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC10_MIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC10_TRIM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC11_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC11_MIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC11_TRIM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC1_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC1_MIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC1_TRIM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC2_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC2_MIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC2_REV
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC2_TRIM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC3_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC3_MIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC3_TRIM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC4_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC4_MIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC4_TRIM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC5_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC5_MIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC5_TRIM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC7_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC7_MIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC7_TRIM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC9_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC9_MIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC9_TRIM
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_CHAN_CNT
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_CRSF_TEL_EN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_INPUT_PROTO
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_ARM_SW
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_FLTMODE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_KILL_SW
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_PITCH
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_ROLL
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_THROTTLE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RC_MAP_YAW
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RTL_DESCEND_ALT
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RTL_RETURN_ALT
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RTL_TYPE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for RWTO_NUDGE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SDLOG_PROFILE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SENS_BOARD_X_OFF
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SENS_BOARD_Y_OFF
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SENS_EN_MS4525DO
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SENS_EN_SF0X
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SENS_IMU_AUTOCAL
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SENS_IMU_MODE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SENS_MAG_AUTOCAL
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SENS_MAG_AUTOROT
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SYS_AUTOCONFIG
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for SYS_AUTOSTART
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_BITRATE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_EC_FAIL1
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_EC_FAIL2
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_EC_FAIL3
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_EC_FAIL4
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_EC_FAIL5
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_EC_FAIL6
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_EC_FAIL7
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_EC_FAIL8
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_EC_MAX1
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_EC_MAX2
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_EC_MAX3
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_EC_MAX4
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_EC_MAX5
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_EC_MAX6
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for UAVCAN_ENABLE
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL2_IO_CMIN
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL2_IO_FUNC1
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL2_IO_FUNC2
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL2_IO_FUNC3
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL2_IO_FUNC4
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL2_IO_FUNC5
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL2_IO_FUNC6
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_BAUD
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_FUNC1
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_FUNC2
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_FUNC3
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_FUNC4
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_RPM_MAX
ERROR [parameters] Timeout waiting for parameter_client_set_value_response for VOXL_ESC_RPM_MIN
INFO  [parameters] BSON document size 4757 bytes, decoded 4757 bytes (INT32:111, FLOAT:119)
Starting IMU driver with rotation 12
INFO  [qshell] Send cmd: 'icm42688p start -s -R 12'
INFO  [muorb] [uORB] Marking DeviceNode(qshell_req) as advertised in process_remote_topic

I can't consistently recreate it, but it usually happens after restarting voxl-px4 a few times during one "session" (I don't think it's ever happened on the first voxl-px4 startup). Is there a corresponding service I should restart alongside voxl-px4, or can anyone clue me in to why this issue might be happening only sometimes?

@Zachary-Lowell-0 Oh wow, thanks that's very simple

Hi! Problem statement: want to connect external FCU to voxl and communicate over the microdds bridge for minimal latency. In the past, I have tried to compile the uxrce-dds agent from source https://docs.px4.io/main/en/middleware/uxrce_dds but never really dove into trying to fix all the issues. I assume this is a problem you guys fixed with voxl-microdds-agent; is it possible to modify that package to communicate with an external flight controller over UART?

Other option would be docker, which I've done before, but that incurs some overhead and we're kinda maxing out the voxl, so I would prefer a native implementation.

I guess I'm just asking if this is feasible within the design of voxl-microdds-agent or if it's tailored to communicating with voxl-px4 over shared memory.

Hi, in order to log a lot of different configurable data & cleanly parse the output, I wrote a python wrapper that calls voxl-logger as a subprocess and terminates it by sending a SIGINT (emulating user ctrl+c).

This issue only happens sometimes, maybe 30% of the time or something. I don't recall ever seeing it when starting voxl-logger natively in the terminal.

Running: stdbuf -oL -eL voxl-logger -c hires_small_color -i imu_apps -i imu_vectornav -B baro_vectornav -g gnss1_vectornav -I ins_vectornav
Welcome to voxl-logger
58127 MB left in /data/voxl-logger/
starting new log: /data/voxl-logger/log0044/

connected to ch 0 /run/mpa/hires_small_color/
connected to ch 1 /run/mpa/imu_apps/
^C
Stopping...

received SIGINT Ctrl-C
WARNING, _stop_helper_and_remove_pipe timed out joining read thread

Segmentation fault:
Fault thread: voxl-logger(tid: 26766)
Fault address: 0x7f9d719010
Address not mapped.

The main issue is that when this happens it fails to print the logger summary (channels & messages logged) which is important for me to quickly analyze the validity of the logged data. Also we've had issues with the logger not shutting down gracefully and only partially populating the final row of the csv it was writing to.

Do you guys have any idea why this might be happening? I would much prefer the logger to exit consistently and gracefully.

Thanks!

Do the apps and slpi processors share the same clock? I intend to publish external vio data to voxl-px4, and I'm wondering how it should be timestamped to properly ingest into the EKF2 module. Right now I am timestamping things on the apps side using the monotonic clock (same as voxl-camera-server and voxl-imu-server).

@Colby-Howell You can save camera data onboard using voxl-logger, but it will take up a lot of storage very quickly and the voxl2 has < 64gb so be careful with that. If you're not trying to save raw frames and are okay with compression & artifacts you can stream it to a ground computer with voxl-streamer and save it there

For connecting to the drone the easiest (especially cause you don't have a ground radio) is wifi, you can just connect your drone to a somewhat powerful router, set a static IP and ssh in.

For autonomous navigation, the best way in my opinion is to talk to voxl-px4 through the uxrce-dds bridge (implemented on the voxl2 as voxl-microdds-agent) https://docs.px4.io/main/en/middleware/uxrce_dds

@Alex-Kushleyev Hey thanks for the quick reply,

It's kind of hard to explain but eventually this system will be flown, and I'll need pretty extensive control over what's happening on the px4 side so I'm kind of using this as an exercise to understand how things work. Also trying to keep the hardware consistent with what will fly.

I do want to run voxl-px4 so I can pipe data into EKF2 and see how it responds under certain conditions. Right now we have a standard voxl2 with the ethernet expansion board, and are using the J9 uart for connecting an external sensor, and the J11 superspeed USB for datalogging. Unfortunately I believe this leaves us with no apps proc uarts available, so interacting with it on the SLPI side is the only option.

I'll mess around with other VehicleCommand messages and see if I can get something to show up on the px4 side

@Alex-Kushleyev

• I am not using a modalai ESC. I am directly connecting channel 5 of J1 on the m0065 board to the PWM pin of the servo, and providing power externally. Right now the system is not being flown (it's more of a sensor package) so channels 1-4 are unused, but I tried every method I tried with channel 5 on channel 1 and they didn't work.

• I am able to actuate the servo on channel 5 with the QGC slider. With the command 'listener vehicle_command' in the px4 shell, I can see that the slider is sending MAV_CMD_ACTUATOR_TEST. However my commands (also sent to vehicle_command over the microdds bridge) do not seem to be interpreted.

• That is not a viable option, I need to communicate with the VOXL2 over an existing long-range network (similar to doodle labs). I could add the uOrb inputRc message to the voxl-px4 microdds client and try to spoof an RC pwm, but I'm hesitant to believe that will work with everything I've tried already.

I think the problem is the particular VehicleCommand msg I'm sending not making it through as you said. It's just strange though because I've had no issue arming or mode switching vehicles through the same msg on other voxl2 platforms

I'll take it there's no direct way to just write a constant PWM output to the voxl2_io board on the voxl2?

Thanks!

Hi, I've been having trouble trying to set up a pitch gimbal on a voxl2 via channel 5 of the m0065 board. The control is pretty simple, I just need to update the pitch of the gimbal to a static angle once or twice during a mission. I could drive it with a tiny mcu over usb but I kind of want to avoid that as the m0065 board is already necessary in our build

Some things I already tried:

• Adding some uOrb control messages to the voxl-px4 build (ActuatorMotors, ActuatorServos, GimbalCommand), and sending the corresponding messages to command pitch on channel 5 via microdds bridge

• Sending a VehicleCommand message with the supposedly correct params isn't even received on the px4 side (output of a listener echo in the mavlink console). This is really weird as I've used vehicle_command to arm / mode switch vehicles before

• The failure of those methods made me think it's something to do with the gimbal module getting left out of the voxl-px4 SLPI build, so I added it and retried the GimbalCommand and VehicleCommand messages, but to no avail

I have yet to try mavsdk but the failure of all that other stuff doesn't make me too hopeful it's going to work.

Is there a way to directly command a pwm with the voxl2_io module (Either on the slpi side or apps side)? Like "voxl2_io set -c <channel> -v <value>" or something

Thank you!

I'm in the process of building an apps proc mpa server sensor package for the vectornav vn300 external INS, and looking through the currently supported interfaces in libmodal pipe there appears to be no GNSS interface. It seems pretty simple to add a header, but taking the imu_data_t interface as an example I can't find where the pipe_validate_imu_data_t() function is defined, so it's unclear to me how it actually validates a pipe read, and how I would do it for a gnss data stream with different fields.

Maybe I'm just not looking in the right place? Please let me know where I can find an example of pipe data validation, and also of any other requirements when adding an interface to libmodal pipe.

Thanks!

@Alex-Kushleyev Gotcha, thanks!

Trying to get a vectornav VN300 external INS to work with our voxl2 setup. It has a sensor module in px4 firmware: https://docs.px4.io/main/en/sensor/vectornav.

Looking at the voxl-px4-start script here: https://github.com/modalai/px4-firmware/blob/main/boards/modalai/voxl2/target/voxl-px4-start it seems like you should be able to start a module / driver and target QUP6 this way:

if [ "$GPS" != "NONE" ]; then
    # On M0052 the GPS driver runs on the apps processor
    if [ $PLATFORM = "M0052" ]; then
        gps start -d /dev/ttyHS2
    # On M0054 and M0104 the GPS driver runs on SLPI DSP
    else
        qshell gps start -d 6
    fi
fi

So I assumed I could just modify voxl-px4 to include the vectornav sensor module, reload the package and add the appropriate start command

qshell vectornav start -d 6

Even with the firmware properly rebuilt & deployed and the vectornav module visible as a target on the px4 side, it fails to run from the VOXL2 side:

starling-px4-dev-kit (D0011):/usr/bin$ px4-qshell vectornav start -d 6
INFO  [qshell] Send cmd: 'vectornav start -d 6'
INFO  [qshell] cmd returned with: 1
INFO  [qshell] qshell return value timestamp: 1453125775, local time: 1453127808
ERROR [qshell] Command failed

Also, the output isn't really verbose so I can't see why the command failed. I've tried running it on the px4 side (in the mavlink console in QGroundControl), and the verbose error I get is that '6' is not a proper serial device. How can I start the driver and properly target QUP6? Also, how can I get more verbose output when running px4-qshell commands on the VOXL2 side?

Right now I'm using this bash script to set a static ip:

ETHERNET_IP=192.168.1.100
eth_dongle_interface=eth0

while true
do  
   if [[ -e "/sys/class/net/$eth_dongle_interface" ]]; then
         eth_dongle_ip=$(ip -4 addr show $eth_dongle_interface | grep -oP '(?<=inet\s)\d+(\.\d+){3}' | head -1)
   else
         eth_dongle_ip=""
   fi

   if [[ "$eth_dongle_ip" != *"$ETHERNET_IP"* &&  -e "/sys/class/net/$eth_dongle_interface" ]]; then
                echo "setting IP address to: $ETHERNET_IP"
                ip addr flush dev $eth_dongle_interface
                sleep 1
                ip link set dev $eth_dongle_interface up
                sleep 1
                ip addr add $ETHERNET_IP/255.255.255.0 dev $eth_dongle_interface
    fi
    sleep 1
done

It's pretty reliable, but we have seen it fail and the default 169.254.4.1 address takes over the eth0 interface. I believe this the Qualcomm DHCP manager? Is there any way to edit the network manager directly? We have tried deleting it but it seems to regenerate on boot.

Hi, I am trying to hook up an external FCU for a sensors test over uart to the standard m0054 VOXL2 (with ethernet hub addon M0062). Looking at the pinouts, I'm seeing references to a lot of QUP uart ports - are any of those accessible to the applications processor (i.e. at /dev/ttyXX)? If so, how will I know which physical port corresponds to which uart?

@Vinny Powering the drive externally didn't change anything, seems like it's a data rate issue.

I am having super weird IO problems with the ssd, like sometimes the partition doesn't show up when running 'lsblk' so I can't mount it. Data rate tests using dd are not consistent at all, and sometimes mid write the drive will become read only and dd will hang infinitely, following which I have to reformat the drive. I had the same partition issues trying a microsd card in the ethernet hub addon microsd slot - the sdcard showed up as mmcblk0 with no partitions available to mount.

I've had much more consistent performance using a microsd + reader over usb3. This post was helpful for setting some standards: https://forum.modalai.com/topic/3855/question-about-the-usb3-uart-add-on-versus-the-voxl-2-ethernet-and-usb-hub-add-on/2. With my setup (UHS-1 microssd + reader) I'm getting about 50MBps write to ext4 and ~75MBps write to exFAT formatted microsd card.

However, those tests with dd seem to be really unreliable and not representative of the rate I'll get using voxl-logger. I'm guessing I need a benchmark data rate of much higher than what we actually need (93MBps) in order to consistently write frames.