ModalAI Forum

@LucasW to answer my own question, VOXL supports 5 GHz. This can be verified by running iw list and looking at the supported channels.

The /data/misc/wifi/wpa_supplicant.conf file does not seem to take effect when trying to specify frequencies, for instance (for 5 GHz channels 36, 40, 44, and 48:

country=ch
ctrl_interface=/var/run/wpa_supplicant

network={
    ssid="my-ssid"
    bssid=00:00:00:00:00:00
    freq_list=5180 5200 5220 5240
    scan_freq=5180 5200 5220 5240
    proto=RSN
    key_mgmt=WPA-PSK
    pairwise=CCMP TKIP
    group=CCMP TKIP
    psk="my-pwd"
}

The only way I found to connect to 5 GHz is to disable the 2.4 GHz radio entirely on the router. Otherwise, the connection defaults to 2.4 GHz.
On the router, it is also better to set a fixed channel (e.g., 36) rather than letting it be automatic. In auto mode, the robots could not connect systematically to the network.

Note also that my question was wrong in the sense that the hostapd.conf files are used to generate the access point, not to connect in station mode.

These are maybe considerations that could be added to the technical doc @Chad-Sweet ?

Hi,

Is it possible to connect to a WiFi network with VOXL-Flight on the 5 GHz band? VOXL seems to default to 2.4 GHz, even when the router offers 5 GHz (e.g., my laptop is connected with 5 GHz). I tried modifying the configurations in /data/misc/wifi/, including hostapd.conf (soft access) and sta-hostapd.conf (station mode), by setting channel=36 instead of 6. However, the drone continues to connect with the 2.4 GHz frequency.

This is important as I have Spektrum RCs emitting at 2.4 GHz, which causes significant interference.

Any hints?

I tried swapping the tof camera with a spare one I had around. The spare tof worked immediately without issue. I then disconnected the spare tof, configured the camera server with only hires and tracking (with no connected tof camera, which worked fine). I then tried to plug back in the original tof and it started working again. So nothing changed, just unplugged and plugged back the tof camera and reflected the changes by configuring the camera server accordingly, weird...

I upgraded the system image to SDK1.2, as it is the latest supported for VOXL Flight (I have a beta version of the Starling drone):

voxl-version
--------------------------------------------------------------------------------
system-image: 4.0.0
kernel:       #1 SMP PREEMPT Thu Oct 13 17:57:05 UTC 2022 3.18.71-perf
--------------------------------------------------------------------------------
hw platform:  VOXL
mach.var:     1.0
--------------------------------------------------------------------------------
voxl-suite:   1.2.0
--------------------------------------------------------------------------------
Packages:
Repo: http://voxl-packages.modalai.com/dists/apq8096/sdk-1.2/binary-arm64/
Last Updated: Never
List:
	apq8096-dfs-server          0.3.1
	apq8096-imu-server          1.1.0
	apq8096-libpng              1.6.38-1
	apq8096-rangefinder-server  0.1.3
	apq8096-system-tweaks       0.2.3
	apq8096-tflite              2.8.3-1
	libapq8096-io               0.6.1
	libmodal-cv                 0.4.0
	libmodal-exposure           0.1.0
	libmodal-journal            0.2.2
	libmodal-json               0.4.3
	libmodal-pipe               2.10.0
	libvoxl-cci-direct          0.2.1
	libvoxl-cutils              0.1.1
	voxl-camera-calibration     0.5.4
	voxl-camera-server          1.9.2
	voxl-configurator           0.5.6
	voxl-cpu-monitor            0.4.8
	voxl-docker-support         1.3.1
	voxl-gphoto2-server         0.0.10
	voxl-jpeg-turbo             2.1.3-5
	voxl-lepton-server          1.2.0
	voxl-libgphoto2             0.0.4
	voxl-libuvc                 1.0.7
	voxl-logger                 0.4.0
	voxl-mavcam-manager         0.5.3
	voxl-mavlink                0.1.1
	voxl-mavlink-server         1.4.0
	voxl-modem                  1.0.9
	voxl-mongoose               7.7.0-1
	voxl-mpa-to-ros             0.3.7
	voxl-mpa-tools              1.1.5
	voxl-opencv                 4.5.5-2
	voxl-portal                 0.6.5
	voxl-qvio-server            1.0.2
	voxl-remote-id              0.0.9
	voxl-streamer               0.7.4
	voxl-suite                  1.2.0
	voxl-system-image           4.0-r0
	voxl-tag-detector           0.0.4
	voxl-tflite-server          0.3.2
	voxl-utils                  1.3.9
	voxl-uvc-server             0.1.6
	voxl-vision-hub             1.7.4
	voxl-vpn                    0.0.6
--------------------------------------------------------------------------------

The cameras were working fine up until recently and I did not attempt to modify any hardware. The following cameras are connected to VOXL Flight (connectors) :

• tracking (port J4)
• hires (port J2)
• tof (port J3)

(left unaltered as provided by ModalAI)

I performed the following setup after flashing the image:

voxl-configure-cameras 6 # Hires + TOF + Tracking
voxl-configure-extrinsics starling_v1_voxl_flight
voxl-configure-qvio factory_enable_imu0 # for VOXL Flight all-in-one board.

Which yielded the following extrinsics:

voxl-inspect-extrinsics   
#0:
    parent:                imu1
    child:                 imu0
    T_child_wrt_parent:   -0.048   0.037   0.002 
    RPY_parent_to_child:   0.0     0.0     0.0  
    R_child_to_parent:     1.000  -0.000   0.000 
                           0.000   1.000  -0.000 
                           0.000   0.000   1.000 
#1:
    parent:                imu0
    child:                 tracking
    T_child_wrt_parent:    0.060  -0.014   0.011 
    RPY_parent_to_child:   0.0    45.0    90.0  
    R_child_to_parent:     0.000  -0.707   0.707 
                           1.000   0.000  -0.000 
                          -0.000   0.707   0.707 
#2:
    parent:                imu1
    child:                 tracking
    T_child_wrt_parent:    0.012   0.015   0.013 
    RPY_parent_to_child:   0.0    45.0    90.0  
    R_child_to_parent:     0.000  -0.707   0.707 
                           1.000   0.000  -0.000 
                          -0.000   0.707   0.707 
#3:
    parent:                body
    child:                 imu0
    T_child_wrt_parent:    0.000   0.014  -0.008 
    RPY_parent_to_child:   0.0     0.0     0.0  
    R_child_to_parent:     1.000  -0.000   0.000 
                           0.000   1.000  -0.000 
                           0.000   0.000   1.000 
#4:
    parent:                body
    child:                 imu1
    T_child_wrt_parent:    0.049  -0.015  -0.011 
    RPY_parent_to_child:   0.0     0.0     0.0  
    R_child_to_parent:     1.000  -0.000   0.000 
                           0.000   1.000  -0.000 
                           0.000   0.000   1.000 
#5:
    parent:                body
    child:                 stereo_l
    T_child_wrt_parent:    0.065  -0.040   0.000 
    RPY_parent_to_child:   0.0    90.0    90.0  
    R_child_to_parent:     0.000  -0.000   1.000 
                           1.000   0.000  -0.000 
                          -0.000   1.000   0.000 
#6:
    parent:                body
    child:                 tof
    T_child_wrt_parent:    0.065  -0.013   0.010 
    RPY_parent_to_child:   0.0    90.0    90.0  
    R_child_to_parent:     0.000  -0.000   1.000 
                           1.000   0.000  -0.000 
                          -0.000   1.000   0.000 
#7:
    parent:                body
    child:                 ground
    T_child_wrt_parent:    0.000   0.000   0.029 
    RPY_parent_to_child:   0.0     0.0     0.0  
    R_child_to_parent:     1.000  -0.000   0.000 
                           0.000   1.000  -0.000 
                           0.000   0.000   1.000

Listing plugged in camera with voxl-camera-server -l returns:

DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 2

DEBUG:   Note: This list comes from the HAL module and may not be indicative
DEBUG:   	of configurations that have full pipelines

DEBUG:   Number of cameras: 2


====================================
Stats for camera: 0

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
4208 x 3120
4096 x 2160
2104 x 1560
1920 x 1080
1280 x  720
2104 x 1506

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
4208 x 3120 HAL_PIXEL_FORMAT_RAW_OPAQUE
...

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
	min = 41
	max = 3987

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
	332

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
	min = 20678ns
	max = 683881516ns


====================================
Stats for camera: 1

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
 640 x  480
 320 x  240

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
 640 x  480 HAL_PIXEL_FORMAT_RAW_OPAQUE
...

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
	min = 100
	max = 6399

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
	6399

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
	min = 19425ns
	max = 1020461640ns

====================================
Number of cameras detected: 2
====================================

Trying to run voxl-camera-server -d 0 generates:

WARNING Failed to set priority, errno = 1
This may be because the FIFO scheduler is not available when running in a console.
It should work properly when run as a systemd background process on boot.
WARNING: failed to set scheduler
using new imx214 defaults
=================================================================
configuration for 3 cameras:

cam #0
    name:                tracking
    sensor type:         ov7251
    isEnabled:           1
    camId:               2
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           640
    pre_height:          480
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1

    ae_mode:             lme_msv
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

cam #1
    name:                tof
    sensor type:         pmd-tof
    isEnabled:           1
    camId:               1
    camId2:              -1
    fps:                 5
    en_rotate:           0
    en_rotate2:          0

    en_preview:          1
    pre_width:           224
    pre_height:          1557
    en_raw_preview:      1

    en_small_video:      0
    small_video_width:   -1
    small_video_height:  -1

    en_large_video:      0
    large_video_width:   -1
    large_video_height:  -1

    en_snapshot:         0
    snap_width:          -1
    snap_height:         -1

    ae_mode:             off
    standby_enabled:     0
    decimator:           5
    independent_exposure:0

cam #2
    name:                hires
    sensor type:         imx214
    isEnabled:           1
    camId:               0
    camId2:              -1
    fps:                 30
    en_rotate:           0
    en_rotate2:          0

    en_preview:          0
    pre_width:           640
    pre_height:          480
    en_raw_preview:      0

    en_small_video:      1
    small_video_width:   1024
    small_video_height:  768

    en_large_video:      1
    large_video_width:   1920
    large_video_height:  1080

    en_snapshot:         1
    snap_width:          4160
    snap_height:         3120

    ae_mode:             isp
    standby_enabled:     0
    decimator:           1
    independent_exposure:0

fsync_en:            0
fsync_gpio:          111
=================================================================
DEBUG:   Attempting to open the hal module
DEBUG:   SUCCESS: Camera module opened on attempt 0
DEBUG:   ----------- Number of cameras: 2

DEBUG:   ------ voxl-camera-server: Starting 3 cameras
Starting Camera: tracking (id #2)
WARNING: cam tracking (id 2) does not seem to be alive
Starting Camera: tof (id #1)
DEBUG:   Checking Gain limits for Camera: tof
Using gain limits min: 100 max: 6399
DEBUG:   cam ID 1 checking for fmt:   33  w:  224 h: 1557 o:   0
DEBUG:   	==> option   0: format= 36 width= 640 height= 480 is_input=0
DEBUG:   	==> option   4: format= 36 width= 320 height= 240 is_input=0
DEBUG:   	==> option   8: format= 32 width= 640 height= 480 is_input=0
DEBUG:   	==> option  12: format= 32 width= 320 height= 240 is_input=0
DEBUG:   	==> option  16: format= 35 width= 640 height= 480 is_input=0
DEBUG:   	==> option  20: format= 35 width= 640 height= 240 is_input=0
DEBUG:   	==> option  24: format= 35 width= 640 height= 360 is_input=0
DEBUG:   	==> option  28: format= 35 width= 480 height= 480 is_input=0
DEBUG:   	==> option  32: format= 35 width= 480 height= 360 is_input=0
DEBUG:   	==> option  36: format= 35 width= 480 height= 320 is_input=0
DEBUG:   	==> option  40: format= 33 width= 640 height= 480 is_input=0
DEBUG:   	==> option  44: format= 33 width= 640 height= 240 is_input=0
DEBUG:   	==> option  48: format= 33 width= 640 height= 360 is_input=0
DEBUG:   	==> option  52: format= 33 width= 480 height= 480 is_input=0
DEBUG:   	==> option  56: format= 33 width= 480 height= 360 is_input=0
DEBUG:   	==> option  60: format= 33 width= 480 height= 320 is_input=0
DEBUG:   	==> option  64: format= 37 width= 640 height= 480 is_input=0
DEBUG:   	==> option  68: format= 37 width= 320 height= 240 is_input=0
DEBUG:   	==> option  72: format= 38 width= 640 height= 480 is_input=0
DEBUG:   	==> option  76: format= 38 width= 320 height= 240 is_input=0
DEBUG:   	==> option  80: format= 34 width= 640 height= 480 is_input=0
DEBUG:   	==> option  84: format= 34 width= 640 height= 240 is_input=0
DEBUG:   	==> option  88: format= 34 width= 640 height= 360 is_input=0
DEBUG:   	==> option  92: format= 34 width= 480 height= 480 is_input=0
DEBUG:   	==> option  96: format= 34 width= 480 height= 360 is_input=0
DEBUG:   	==> option 100: format= 34 width= 480 height= 320 is_input=0
ERROR:   Camera 1 failed to find supported preview config: 224x1557
WARNING: Failed to start cam tof due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: hires (originally id #0) with id offset: 1
WARNING: cam hires (id -1) does not seem to be alive
ERROR:   failed to initialize any cameras

------ voxl-camera-server: Started 0 of 3 cameras

------ voxl-camera-server: Camera server is now running

------ voxl-camera-server: Camera server is now stopping
DEBUG:   	Erasing all managers

------ voxl-camera-server: Camera server exited gracefully, returning -1

Finally, here is the camera server configuration (/etc/modalai/voxl-camera-server.conf) :

{
	"version":	0.1,
	"fsync_en":	false,
	"fsync_gpio":	111,
	"cameras":	[{
			"type":	"ov7251",
			"name":	"tracking",
			"enabled":	true,
			"camera_id":	2,
			"fps":	30,
			"en_rotate":	false,
			"en_preview":	true,
			"preview_width":	640,
			"preview_height":	480,
			"en_raw_preview":	true,
			"ae_mode":	"lme_msv",
			"ae_desired_msv":	60,
			"exposure_min_us":	20,
			"exposure_max_us":	33000,
			"gain_min":	54,
			"gain_max":	8000,
			"exposure_soft_min_us":	5000,
			"ae_filter_alpha":	0.600000023841858,
			"ae_ignore_fraction":	0.20000000298023224,
			"ae_slope":	0.05000000074505806,
			"ae_exposure_period":	1,
			"ae_gain_period":	1
		}, {
			"type":	"pmd-tof",
			"name":	"tof",
			"enabled":	true,
			"camera_id":	1,
			"fps":	5,
			"ae_mode":	"off",
			"standby_enabled":	false,
			"decimator":	5
		}, {
			"type":	"imx214",
			"name":	"hires",
			"enabled":	true,
			"camera_id":	0,
			"fps":	30,
			"en_preview":	false,
			"preview_width":	640,
			"preview_height":	480,
			"en_raw_preview":	false,
			"en_small_video":	true,
			"small_video_width":	1024,
			"small_video_height":	768,
			"small_venc_mode":	"h264",
			"small_venc_br_ctrl":	"cqp",
			"small_venc_Qfixed":	30,
			"small_venc_Qmin":	15,
			"small_venc_Qmax":	40,
			"small_venc_nPframes":	9,
			"small_venc_mbps":	2,
			"en_large_video":	true,
			"large_video_width":	1920,
			"large_video_height":	1080,
			"large_venc_mode":	"h264",
			"large_venc_br_ctrl":	"cqp",
			"large_venc_Qfixed":	40,
			"large_venc_Qmin":	15,
			"large_venc_Qmax":	50,
			"large_venc_nPframes":	29,
			"large_venc_mbps":	40,
			"en_snapshot":	true,
			"en_snapshot_width":	4160,
			"en_snapshot_height":	3120,
			"ae_mode":	"isp"
		}]
}

I doubt all cameras are dead... I can actually run the server with only hires by setting the enabled field to false in the camera server config. Could this be linked to some hardware/software version mismatch of the expected camera types? Any pointers as to how to address this issue would be much appreciated!

Edit: a similar issue has been raised before, see this post, but no solution was given.

Alright, solved it. I adjusted the MCS pose rate to be at 30 Hz (should be fine up to 50 Hz according to PX4 documentation), although this does not seem to have any significant impact.

The problem was that the EKF2_AID_MASK must be set to 24 (only position and yaw fusion) for motion capture, instead of 280 (default with VIO, which sends odometry messages including velocities). Hence the following fields must be set as follows:

---

vision position fusion
vision yaw fusion

vision velocity fusion <-- Disable for Motion Capture (enabled by default for VIO)

---

I did not have to modify any other parameters.

@James-Strawson, thanks again for the help!

I just realized the MCS pose publishing rate is likely too high, which may cause the lag. I am investigating...

Hi @James-Strawson,

Thanks a lot for the very detailed answer, much appreciated!

I finally managed to have PX4 receive Motion Capture System pose data and fuse it. Here is what I did (following your guidelines):

• I disabled the qvio server with: systemctl disable voxl-qvio-server
• I installed from source the mavros_extras package (v1.0.0) and enabled the vision_pose_estimate plugin by publishing on the topic /mavros/vision_pose/pose (of type geometry_msgs::PoseStamped).
• A node listening for the MCS poses runs onboard VOXL and stamps the poses with the monotonic clock.

When I visualize the MCS pose and the /mavros/local_position/pose (PX4 state estimate) in RVIZ while manually flying the drone, the estimate lags behind the MCS pose. It sometimes loses track of the MCS pose and jumps back to realign with it. Also, QGroundControl sometimes relays that the sensor calibration should be checked.

Any suggestion on where this behavior might come from?

What about publishing MCS pose messages of type vio_data_t on the qvio pipe to leverage the MPA?

Hi,

I am trying to send Motion Capture System (MCS) data to the FCU to fuse with or replace the VIO estimate. I have been reading some posts about this topic as I am not the first one tackling this, but there does not seem to be an accepted way of doing it.

I run a node onboard the kinetic docker image onboard voxl that subscribes to our MCS and generates a PoseStamped ROS message. I compiled the vision_pose_estimate plugin from mavros_extras as an independent node to relay the pose messages over mavlink, and configured it as follows (according to the way mavros node is launched):

int 		system_id 	= 1; // env PX4_SYS_ID
int 		component_id	= mavconn::MAV_COMP_ID_UDP_BRIDGE; // 240 
int 		tgt_system_id	= 1; // env PX4_SYS_ID
int 		tgt_component_id= 1; // env PX4_COMP_ID
std::string fcu_protcol		= "v2.0";
bool		respawn_mavros	= false;

Since the file /etc/modalai/voxl-vision-px4.conf is set with:

"qgc_udp_port_number": 14550,
"localhost_udp_port_number": 14551,

I let the vision_pose_estimate node send data over UDP via port 14552 (sending to 14551 blocks any other communication). The node seems to be relaying pose data fine (at least no error when sending the data). However, I am not sure whether PX4 is actually seeing any of it... I tried looking at the mavlink shell provided by voxl-px4-shell and ran the command listener vehicle_visual_odometry, but only the VIO data seems to be received.
How can I check whether the MCS pose is reaching PX4?

@Chad-Sweet mentioned that modifying the voxl-vision-hub at this location would allow relaying MCS pose instead of VIO pose.
Is it indeed the recommended way?

Thanks in advance for any help!

---

The voxl-version command returns the following, running of VOXL-Flight:

voxl-version 
cat: /etc/modalai/voxl-software-bundle-version.txt: No such file or directory
--------------------------------------------------------------------------------
system-image:    ModalAI 3.3.0 BUILDER: ekatzfey BUILD_TIME: 2021-06-06_19:28
kernel:          #1 SMP PREEMPT Sun Jun 6 19:41:01 UTC 2021 3.18.71-perf
factory-bundle:  1.0.1 (Yocto installation)
--------------------------------------------------------------------------------
architecture:    aarch64
processor:       apq8096
os:              GNU/Linux
--------------------------------------------------------------------------------
voxl-suite:
Package: voxl-suite
Version: 0.5.0
Depends: libjpeg_turbo (>= 9.0.4), libmodal_exposure (>= 0.0.2), libmodal_json (>= 0.3.6), libmodal_pipe (>= 2.1.1), librc_math (>= 1.1.5), libvoxl_cutils (>= 0.0.2), libvoxl_io (>= 0.5.4), mavlink-camera-manager (>= 0.0.2), mongoose (>= 7.3.0), opencv (>= 4.5.2-2), openmp (>= 10.0.2), voxl-camera-calibration (>= 0.1.1), voxl-camera-server (>= 0.8.1), voxl-cpu-monitor (>= 0.2.0), voxl-dfs-server (>= 0.2.2), voxl-docker-support (>= 1.1.3), voxl-gphoto2 (>= 0.0.5), voxl-imu-server (>= 0.9.1), voxl-mavlink (>= 0.0.2), voxl-modem (>= 0.12.0), voxl-mpa-tools (>= 0.3.6), voxl-nodes (>= 0.2.0), voxl-portal (>= 0.1.2), voxl-qvio-server (>= 0.3.4), voxl-streamer (>= 0.2.6), voxl-tag-detector (>= 0.0.2), voxl-tflite (>= 2.2.3), voxl-tflite-server (>= 0.1.5), voxl-utils (>= 0.8.4), voxl-vision-px4 (>= 0.9.5), voxl-vpn (>= 0.0.3)
Status: install user installed
Section: base
Architecture: all
Maintainer: james@modalai.com
MD5Sum: f55ec020942e92ff12bc137c2aa8d2a5
Size: 1956
Filename: voxl-suite_0.5.0.ipk
Description: meta-package for voxl-suite software collection
Installed-Time: 1642294777

Package: voxl-suite
Version: 0.2.0
Depends: docker, imu_app (= 0.0.6), libvoxl_io (= 0.5.2), voxl-cam-manager (= 0.2.2), voxl-docker-support (= 1.1.1), voxl-hal3-tof-cam-ros (= 0.0.2), voxl-modem (= 0.10.0), voxl-nodes (= 0.0.8), voxl-rtsp (= 1.0.2), voxl-utils (= 0.5.2), voxl-vision-px4 (= 0.6.8), voxl_imu (= 0.0.4), voxl-time-sync (= 0.0.1), voxl-vpn (= 0.0.2), librc_math (= 1.1.2), libmodal_pipe (= 1.2.2), modalai-vl (= 0.1.3)
Status: unknown ok not-installed
Section: base
Architecture: armv7a
Maintainer: james@modalai.com
MD5Sum: af706cd3c1ea59f274f2ed9b93141f1d
Size: 870
Filename: voxl-suite_0.2.0.ipk
Description: meta-package to install all of the voxl-suite

Package: voxl-suite
Version: 0.4.6
Depends: libmodal_exposure (>= 0.0.2), libmodal_json (>= 0.3.5), librc_math (>= 1.1.5), libvoxl_cutils (>= 0.0.2), libvoxl_io (>= 0.5.4), opencv (>= 4.5.2-1), voxl-mavlink (>= 0.0.2), libmodal_pipe (>= 2.0.7), voxl-camera-server (>= 0.7.1), voxl-cpu-monitor (>= 0.1.7), voxl-dfs-server (>= 0.2.0), voxl-imu-server (>= 0.8.1), voxl-mpa-tools (>= 0.2.6), voxl-qvio-server (>= 0.3.1), voxl-tag-detector (>= 0.0.2), voxl-tflite-server (>= 0.1.0), voxl-vision-px4 (>= 0.9.2), openmp (>= 10.0.2), voxl-tflite (>= 0.0.1), voxl-nodes (>= 0.1.6), mavlink-camera-manager (>= 0.0.2), voxl-docker-support (>= 1.1.3), voxl-gphoto2 (>= 0.0.5), voxl-modem (>= 0.12.0), voxl-streamer (>= 0.2.3), voxl-utils (>= 0.7.1), voxl-vpn (>= 0.0.3)
Replaces: voxl-suite-dev
Status: unknown ok not-installed
Section: base
Architecture: all
Maintainer: james@modalai.com
MD5Sum: a800fd5f7c98cfa4e6ed1638cf25d909
Size: 1902
Filename: voxl-suite_0.4.6.ipk
Description: meta-package for voxl-suite software collection

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@kiprock Thank you for this, that also solved the issue in my case.

To be a little more cautious, I simply renamed the existing file, which forced the generation of a new one when running the configuration script voxl-configure-docker-support.sh:

voxl:/data/network/files$ mv local-kv.db local-kv_DISABLED.db

I do not think I have access to this slack. It seems restricted to a few specific people only. But I tried their forum. Thanks anyway!

I would like to send altitude data produced by embedded, downward-looking range finders (VL53l1X and teraranger evo 60m) to the auto-pilot. I would like to do it over mavros since I already have interfaced the sensors over ROS (connected to voxl I²C port 7).

Should I try to use the /mavros/vision_pose/pose topic? There are also several PX4 parameters (EKF2_RNG_*) that have to be set (defining when to use the range finders, e.g. at takeoff and while landing), but I am not sure if those parameters are supposed to work only with supported flight controller hardware when connecting specific range finders directly to them.

Long story short, I haven’t found a clear way of publishing altitude data over mavros to let the EKF2 fuse this information into the state estimate. Any hint?